A Fault Location System and Method for Continuously Operating Reference Stations of Beidou Navigation System

Abstract

The present invention discloses a fault location system and method for a continuously operating reference station of a Beidou navigation system, belonging to the technical field of fault management of positioning services, involving the operation and maintenance work of a continuously operating reference station of a Beidou navigation system, and specifically involving a fault location system and method for a continuously operating reference station of a Beidou navigation system. Aiming at the problems existing in the prior art, such as low fault location efficiency of reference stations and high probability of error in troubleshooting, the present invention provides a fault location system and method for a continuously operating reference station of a Beidou navigation system, which uses the fault location system to receive, transmit, analyze, and process data information and combines empirical parameters to judge the fault location of the reference station. The problem of fault location is solved, and at the same time, the systematization and process of the fault location method are realized, thereby reducing the strict requirements for the professionalism of operation and maintenance personnel, reducing the number of times for operation and maintenance personnel to go to the site for troubleshooting, and reducing the operation and maintenance cost.

Description

Technical Field

[0001] The present invention discloses a fault location system and method for a continuously operating reference station of a Beidou navigation system, belonging to the technical field of fault management of positioning services, involving the operation and maintenance work of a continuously operating reference station of a Beidou navigation system, and particularly involving a fault location method in operation and maintenance work. Background Art

[0002] For the operation and maintenance work of fault location and troubleshooting after problems occur in the relevant data of the continuously operating reference station (Continuously Operating Reference Stations, hereinafter referred to as CORS) of the Beidou navigation system, there is no process-based management of operation and maintenance in the industry, and the current analysis of problems related to the Global Navigation Satellite System (hereinafter referred to as GNSS) only involves observed values (such as pseudorange, carrier phase, Doppler, carrier-to-noise ratio, etc.), and the analysis dimension is relatively single. With the progress of GNSS receiver design and related technologies, the radio frequency information and gain information of the receiver can also be output in real time. The combination of these information and observed values is very helpful for improving the efficiency and accuracy of GNSS-related fault location. In the current industry field, there is no system and method that organically combines the observed values collected by GNSS with valuable parameters such as radio frequency information and gain information received by GNSS receivers and refers to troubleshooting experience values to solve the fault location problem. In actual operation and maintenance work, the common working method is to arrange operation and maintenance personnel to go to the site where the equipment is located for equipment replacement testing, with low troubleshooting efficiency and accuracy, and high requirements for the technical quality of personnel. At present, CORS has been applied to fields involving life safety such as autonomous driving, providing a high-precision spatio-temporal reference for this field. Therefore, in the field of global navigation satellite system positioning and fault management technology, it is of great practical significance to provide a system and method that organically combines the radio frequency information, automatic gain information, observed value information collected by GNSS receivers and refers to the troubleshooting experience values in this field to solve the fault location problem.

[0003] After retrieval, the Chinese patent application, publication number CN 111143097 A, publication date May 12, 2020, discloses an invention patent: A fault management system and method for GNSS positioning services. The fault management system thereof includes an access layer, a processing layer, an engine layer, a platform layer, and an application layer; although the method provided by this invention can locate the cause of service anomalies and problem nodes, it does not organically combine the information collected by GNSS receivers, the observed values collected by GNSS, and the troubleshooting experience values in this field, and cannot further improve the efficiency of GNSS-related fault location in the CORS system and reduce the probability of troubleshooting errors. Summary of the Invention

[0004] 1. Technical problem to be solved

[0005] Aiming at the problems of low GNSS-related fault location efficiency and high probability of troubleshooting errors in the existing CORS system, the present invention provides a fault location system and method for continuously operating reference stations of the Beidou navigation system. It can not only solve the problem of fault location, but also realize the systematization and process of the fault location method, thereby reducing the strict requirements for the professionalism of CORS operation and maintenance personnel, reducing the number of times for operation and maintenance personnel to go to the site for troubleshooting, and reducing the operation and maintenance costs.

[0006] 2. Technical solution

[0007] The object of the present invention is achieved by the following technical solutions.

[0008] A fault location system for continuously operating reference stations of the Beidou navigation system includes a global navigation satellite system receiver, a fault trigger unit, a data recording unit, an adaptive gain information analysis unit, a main radio frequency information analysis unit, a secondary radio frequency information analysis unit, a zenith map analysis unit, and a multipath effect calculation unit; the global navigation satellite system receiver sends the received signal to the fault trigger unit; after the fault trigger unit is triggered, it sends the data to the data recording unit; the data recording unit sends the data to the adaptive gain information analysis unit; the adaptive gain information analysis unit analyzes and judges the data information and sends the information to the main radio frequency information analysis unit; the main radio frequency information analysis unit is respectively connected to the secondary radio frequency information analysis unit and the zenith map analysis unit; the secondary radio frequency information analysis unit sends signals to radio frequency information analysis unit A and radio frequency information analysis unit B; the zenith map analysis unit sends signals to the multipath effect calculation unit.

[0009] Furthermore, the global navigation satellite system receiver is used to receive and output radio frequency information, gain information, and global navigation satellite system observation value information; the fault trigger unit is used to trigger a preset fault; the data recording unit is used to collect the problem time and data when the fault occurs and store and analyze the receiver gain and radio frequency data information; the main radio frequency information analysis unit and the secondary radio frequency information analysis unit store and analyze the radio frequency data information; the zenith map analysis unit analyzes the zenith map of the observation values; the multipath effect calculation unit calculates the multipath value of the pseudorange observation value. The fault location system provided by the present invention can process the radio frequency information, gain information, and global navigation satellite system observation value information received by the fault location system, and combine empirical parameters to determine the positioning method of the fault cause that appears in the continuously operating reference stations of the Beidou navigation system.

[0010] Furthermore, a fault location method for continuously operating reference stations of the Beidou navigation system includes the following steps:

[0011] Step 1: The fault trigger unit is triggered in real time by the received data information;

[0012] Step 2: The fault location system records the original data of the time when a fault occurs in the continuously operating reference station of the Beidou navigation system;

[0013] Step 3: Judge the fault type according to the comparison between the adaptive gain information and the preset normal value: if it is greater than the set value, the fault is judged as "antenna or feeder fault"; if it is not greater than the set value, go to Step 4;

[0014] Step 4: Analyze the received RF information and convert the signal representing the RF information from the time domain to the frequency domain through fast Fourier transform. Judge the fault type according to the RF information: if the RF information is abnormal, go to Step 5; if the RF information is normal, go to Step 6;

[0015] Step 5: Analyze whether the anomaly belongs to "narrowband anomaly and much higher than the noise floor". Judge whether to go to Step 7 or Step 8 according to the analysis result. If so, go to Step 7; if not, go to Step 8;

[0016] Step 6: Analyze whether the "azimuth range of satellites not being tracked" and the "zenith angle range" in the zenith map have obvious directivity. Judge the fault type according to the analysis result: if so, the fault is judged as "elevation angle setting / obstruction problem"; if not, go to Step 9;

[0017] Step 7: Record the RF information within a preset time period after the fault occurs, analyze whether the RF information is "temperature-related" and judge the fault type: if so, the fault is judged as "antenna fault"; if not, the fault is judged as "antenna fault or interference";

[0018] Step 8: Record the spectrum information until a preset time period after the end of the fault. Analyze whether there is a situation where the fluctuation exceeds the preset value ±10dB within the preset time period and judge the fault type: if there is a situation where the fluctuation exceeds the preset value ±10dB, the fault is judged as "interference"; if there is no situation where the fluctuation exceeds the preset value ±10dB, it is judged as "antenna fault";

[0019] Step 9: Conduct multipath value analysis: if the multipath value is greater than the preset value, record it as "abnormal" and judge it as "elevation angle setting / obstruction problem"; if the multipath value is not greater than the preset value, record it as "normal" and judge it as "receiver satellite configuration / receiver fault".

[0020] Further, a fault location method for a continuously operating reference station of the Beidou navigation system. In Step 1, the trigger is that when the communication link is normal: the number of satellites returned by the receiver is less than the preset value and there are more than the preset number of cycle slips of phase observations.

[0021] Further, a fault location method for a continuously operating reference station of the Beidou navigation system. In step 2, the original data includes pseudorange, carrier phase, Doppler, carrier-to-noise ratio, gain information, and radio frequency information.

[0022] Further, a fault location method for a continuously operating reference station of the Beidou navigation system. In step 4, the radio frequency information received by the global navigation satellite system receiver is smoothed using a preset time window.

[0023] Further, a fault location method for a continuously operating reference station of the Beidou navigation system. The abnormal radio frequency information means that within a preset frequency band range, the change in the radio frequency signal power value received by the receiver exceeds the preset value in step 8; the narrowband abnormality means that within a preset frequency band range, the frequency width and the background noise respectively meet the preset ranges.

[0024] Further, a fault location method for a continuously operating reference station of the Beidou navigation system. In step 6, whether the "azimuth range of the untracked satellite" and the "zenith angle range" have obvious directivity means that according to the ephemeris, the satellites that should be tracked but are actually not tracked, their azimuth angles are concentrated within an arbitrary azimuth and the required inspection angle range, or their zenith angle ranges are all below the required inspection angle.

[0025] Further, a fault location method for a continuously operating reference station of the Beidou navigation system. In step 7, the criterion for judging temperature correlation is that the change in the radio frequency information with the local air temperature exceeds the preset value.

[0026] 3. Beneficial effects

[0027] Compared with the prior art, the advantages of the present invention are as follows:

[0028] Based on the satellite positioning principle of the global navigation satellite system (GNSS) and the logic of algorithm processing such as cycle slips and wide and narrow ambiguities, a method for determining the fault location of a continuously operating reference station of the Beidou navigation system is provided according to the observed value information, radio frequency information, and adaptive gain information received by the global navigation satellite system in combination with the empirical parameters accumulated in the operation and maintenance work. The method provided by the present invention performs comprehensive data analysis and processing on the correlation influence rules and parameters such as cycle slips, wide and narrow ambiguities, and multipath values in the carrier phase measurement of the global navigation satellite system (GNSS) technology. By presetting standard reference values in the system to compare with the received real-time fault data information, a decision rule program is obtained. The present invention can not only improve the efficiency of GNSS-related fault location in the CORS system, reduce the probability of troubleshooting errors, has strong operability and applicability, but also can reduce the operation and maintenance costs and realize the systematization and process of fault location. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of a fault location system for a continuously operating reference station of the Beidou navigation system;

[0030] Figure 2 It is a flowchart of a fault location method for a continuously operating reference station of the Beidou navigation system;

[0031] Figure 3 It is a spectrogram of normal radio frequency information in the L1 frequency band (1575 ± 40 MHz);

[0032] Figure 4 It is a spectrogram of narrowband anomaly and much higher than the background noise;

[0033] Figure 5 It is an unobstructed satellite zenith map;

[0034] Figure 6 It is an obstructed satellite zenith map;

[0035] Figure 7 It is a diagram of a specific azimuth range (shaded part) in the zenith map;

[0036] Figure 8 It is a diagram of a specific zenith angle range (shaded part) in the zenith map;

[0037] Figure 9 It is a spectrogram when interfered by signal leakage of 60 GHz radio equipment. Detailed Implementation Manner

[0038] The present invention will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0039] Embodiment 1

[0040] The present invention for a patent discloses a fault location system and method for a continuously operating reference station of the Beidou navigation system, which relates to a fault location method for CORS operation and maintenance work. It can not only improve the efficiency of GNSS-related fault location in the CORS system, reduce the probability of troubleshooting errors, but also reduce the operation and maintenance costs, and realize the systematization and process of fault location.

[0041] As Figure 1As shown in the figure, a fault location system for a continuously operating reference station of the Beidou navigation system includes a global navigation satellite system receiver, a fault trigger unit, a data recording unit, an adaptive gain information analysis unit, a main radio frequency information analysis unit, a secondary radio frequency information analysis unit, a zenith map analysis unit, and a multipath effect calculation unit; the global navigation satellite system receiver sends the received signal to the fault trigger unit; after the fault trigger unit is triggered, it sends the data to the data recording unit; the data recording unit sends the data to the adaptive gain information analysis unit; the adaptive gain information analysis unit analyzes and judges the data information and sends the information to the main radio frequency information analysis unit; the main radio frequency information analysis unit is respectively connected to the secondary radio frequency information analysis unit and the zenith map analysis unit; the secondary radio frequency information analysis unit sends signals to radio frequency information analysis unit A and radio frequency information analysis unit B; the zenith map analysis unit sends signals to the multipath effect calculation unit.

[0042] A fault location system for a continuously operating reference station of the Beidou navigation system, wherein the global navigation satellite system receiver is used to receive and output radio frequency information, gain information, and global navigation satellite system observation value information; the fault trigger unit is used to trigger a preset fault; the data recording unit is used to collect the problem time and data when the fault occurs and store and analyze the receiver gain and radio frequency data information; the radio frequency information analysis unit stores and analyzes the radio frequency data information; the zenith map analysis unit analyzes the zenith map of the observation value; the multipath effect calculation unit calculates the multipath value of the pseudorange observation value.

[0043] A method for a fault location system of a continuously operating reference station of the Beidou navigation system provided in this embodiment is a fault location method for determining the occurrence of a continuously operating reference station of the Beidou navigation system based on the radio frequency information, gain information, and global navigation satellite system observation value information received by the fault location system and combined with empirical parameters.

[0044] As Figure 2 shown, a fault location method for a continuously operating reference station of the Beidou navigation system provided by the present invention is as follows:

[0045] Step 1: The global navigation satellite system (GNSS) receiver receives real-time information data and sends it to the fault trigger unit; the fault trigger unit is triggered in real time by the received data information. Here, the fault is defined as follows under the condition of normal communication link:

[0046] (a) The number of satellites transmitted back by the receiver is less than the set normal number. In this embodiment, the number of satellites transmitted back by the receiver is selected as 4;

[0047] (b) Phase observation cycle slips above a preset value occur within a preset time period. In this embodiment, more than 5 phase observation cycle slips are sent within 1 minute. Among them, a cycle slip refers to the jump or interruption of the integer cycle count caused by the loss of lock of the satellite signal in the carrier phase measurement of the Global Navigation Satellite System (GNSS) technology. Correctly detecting and recovering cycle slips is one of the very important and necessary problems to be solved in carrier phase measurement.

[0048] The GNSS carrier phase observation value consists of the fractional part less than one full cycle and the integer cycle part The fractional part is the part less than one week in the phase difference between the reference signal generated by the receiver and the carrier signal from the satellite. This part of the observation value can be considered accurate; is the integer cycle number of the carrier phase recorded by the receiver from the time of receiving the satellite signal to the current time. When the receiver continuously tracks the satellite signal, due to some reasons such as signal blockage, radio interference, etc., the counter of the receiver generates an interruption during the cumulative operation, resulting in an integer cycle jump in the phase, but the part less than one week remains unchanged. This integer cycle jump is called a cycle slip. The rules of cycle slips are as follows:

[0049] Adopt the MW combined observation value As the detection quantity for gross error detection, the main steps are as follows:

[0050] 1. Construct the MW combined observation value according to the following formula and the recurrence formula:

[0051]

[0052]

[0053] Among them,

[0054] : is the average value of the MW combined observation values of the first i epochs, in meters;

[0055] : is the average value of the MW combined observation values of the first i - 1 epochs, in meters;

[0056] : is the MW combined observation value of the first i epochs, in meters;

[0057] : is the root mean square error of the MW combined observation values of the first i epochs, in meters;

[0058] : is the root mean square error of the MW combined observation values of the first i - 1 epochs, in meters.

[0059] 2. For the MW combined observation value of the i-th epoch , if , it is out of limit, and for epoch t i , it may be a cycle slip or a gross error. The so-called gross error refers to a series of observations made under the same observation conditions and is one type of measurement error. Generally, it refers to an observation error with an absolute value greater than 3 times the mean square error, including errors caused by carelessness in both field and office work. A gross error is an incorrect result or an out-of-limit error caused by the observer's negligence. For example, misaiming the observation target, reading errors, and recording errors, etc. The existence of gross errors will greatly affect the reliability of the adjustment results and even lead to completely wrong results.

[0060] To determine whether epoch t i has a gross error or a cycle slip occurred, further analyze the data characteristics among the three adjacent epochs of i - 1, i, and i + 1.

[0061] Calculate the wide-lane ambiguity and variance of epoch t i-1 from the wide-lane ambiguity and variance of epoch t i+1 according to the following formula.

[0062]

[0063]

[0064] If the wide-lane ambiguity of epoch t i+1 is not out of limit, or the wide-lane ambiguities of both epoch t i and t i+1 are out of limit and , then it is determined that epoch t i has a gross error. If the wide-lane ambiguities of both epoch t i and epoch t i+1 are out of limit and ≤1, then it is considered that there is a cycle slip at epoch t i . Take the previous i - 1 epochs as an arc segment, record its LMW (t i-1 ) value and variance σ2 (t i-1 ) for subsequent processing, and start a new arc segment from epoch t i .

[0065] Step 2: The described fault location system records the original data of the fault occurrence time of the continuously operating reference station, such as: pseudorange, carrier phase, Doppler, carrier-to-noise ratio, gain information, RF information.

[0066] Step 3: Compare the adaptive gain (AGC) information received by the global navigation satellite system receiver with the set value. If it is greater than the set value, the fault is judged as "antenna / feeder fault"; if it is not greater than the normal value, go to Step 4;

[0067] For example, on April 20, 2021, at a reference station in a certain place in Hainan, the number of satellites was zero, triggering the system fault trigger unit. The data recording unit recorded the GNSS observation value information, adaptive gain information, and radio frequency information after the fault occurred. After passing through the AGC analysis unit, since the adaptive gain AGC of this reference station was 60 dB, which was greater than the system preset value; therefore, the system automatically determined it as "antenna / feeder fault". After investigation by on-site personnel, it was confirmed that this fault was caused by the feeder being bitten off by a mouse.

[0068] Step 4: Analyze the radio frequency information of the receiver of the Global Navigation Satellite System (GNSS) and convert the signal representing the radio frequency information from the time domain to the frequency domain through the Fast Fourier Transform (FFT); if the receiver radio frequency information is abnormal, go to Step 5; if the receiver radio frequency information is normal, go to Step 6.

[0069] The radio frequency information is converted from the time domain to the frequency domain by the signal through the Fast Fourier Transform (FFT), and the conversion formula is as follows:

[0070]

[0071] where F is the frequency domain function; represents the time domain periodic function; is the frequency of the signal.

[0072] As Figure 3 shown, it is the spectrum diagram with a 30s time window for smoothing, when the CORS system is working properly and the environment is interference-free.

[0073] Step 5: If the receiver radio frequency information is analyzed as abnormal in Step 4, analyze whether the abnormality is a narrowband abnormality and far higher than the background noise and enter Step 7, otherwise enter Step 8.

[0074] As Figure 4 shown, in this embodiment, the abnormal receiver radio frequency information is in a specific frequency band of 1575 ± 40 MHz for L1; the power value change exceeds ±10 dB of the above normal value; the narrowband abnormality is a frequency band range that appears in a specific frequency band, with a frequency width range less than 10 MHz and higher than the background noise by 30 dB, and should enter Step 7;

[0075] Step 6: Analyze whether the "azimuth range of non-tracked satellites" and the "zenith angle range" in the zenith map have obvious directivity, and judge the fault type according to the analysis result: if so, the fault is judged as "elevation angle setting / occlusion problem"; if not, enter Step 9; in this embodiment, the defined standard value is preset as: the number of satellites that should be tracked but are actually not tracked is greater than 4, as Figure 7As shown, a specific range with an azimuth angle of 60° in the zenith map is shown as the shaded part; as Figure 8 shown, a specific range with an azimuth angle of 60° in the zenith map is shown as the shaded part. As Figure 5 and Figure 6 shown, they are zenith maps of satellites that are occluded and unoccluded in the four major satellite navigation systems, namely the Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation satellite system (GLN), and Galileo satellite navigation system (GAL). By comparing the zenith maps of occluded satellites and unoccluded satellites, it can be clearly obtained that Figure 6 the area that should have been tracked but was not actually tracked within the 180° azimuth angle marked in

[0076] Step 7: Record the RF information within 24 hours after the fault occurs and analyze the RF information to analyze whether it is "temperature-related" and determine the fault type: If so, the fault is determined to be "antenna fault"; if not, the fault is determined to be "antenna fault or interference".

[0077] Step 8: Record the spectral information until 12 hours after the end of the fault and analyze whether there is a situation where the fluctuation exceeds ±10 dB during the period. If there is a situation where the fluctuation exceeds ±10 dB, the fault is determined to be "interference"; if there is no situation where the fluctuation exceeds ±10 dB, it is determined to be "antenna fault"; in this embodiment, the standard for judging temperature correlation is that the RF information changes by more than 10 dB corresponding to the change in the local temperature.

[0078] On June 20, 2021, the reference station in a certain place in Guizhou had less than 4 satellite counts, triggering the fault trigger unit of the system. When it reached the adaptive gain AGC analysis unit, since the adaptive gain was 29 dB, when it reached the main RF information analysis unit, this analysis unit determined that the RF information was abnormal. After analysis, the visualization of its RF information is as follows Figure 9 shown. After being judged by the secondary RF information analysis unit, there was no narrow frequency and abnormal noise above the background noise. After being recorded and analyzed by the RF information analysis unit B, it was found that there was a fluctuation exceeding 10 dB. Therefore, finally, the system determined that the fault type was "interference".

[0079] Figure 9The frequency range is 1535 MHz - 1615 MHz, the reference level is -40 dB, and the scan time is set to 1.0 ms. After careful investigation by on-site personnel, it was found that the specific interference source was the antenna of a new 60 GHz wireless network transmission device. Its transmitting antenna and receiving antenna are paired and directional. When the device was tested, the reference station antenna was in the position directly facing the transmitting antenna, and there was a problem of frequency leakage in the transmitting antenna. Therefore, the reference station was interfered by this antenna device. After this device was turned off, the reference station returned to normal. In the past, for such failures, generally, maintenance personnel would be arranged to go to the site to test the receiver, antenna, feeder, and their connectors one by one. The failures caused by interference would not be investigated, the cause of the failure could not be determined, and the failure problem could not be correctly solved. Even the site would be relocated helplessly to avoid such signal interference, which would lead to a great waste of resources and no experience could be accumulated.

[0080] Step 9: Conduct multi-path MP (Multi Path) value analysis: If the multi-path value is greater than the preset value of 1, record it as "abnormal", and then judge it as "elevation angle setting / obstruction problem"; if the multi-path value is not greater than the preset value of 1, record it as "normal", and then judge it as "receiver satellite configuration / receiver failure".

[0081] The MP calculation is as follows:

[0082] Calculate the multi-path impact MP according to the following formula k1 and MP k2 values.

[0083]

[0084] In the formula:

[0085] MP k1 、MP k2 : Calculation quantities containing multi-path error and integer ambiguity information at the k1 and k2 frequency points of the navigation signal;

[0086] ρ k1 、ρ k2 : Pseudorange observables at the k1 and k2 frequency points of the navigation signal, with the unit of meter;

[0087] f k1 、f k2 : Frequencies at the k1 and k2 frequency points of the navigation signal, with the unit of megahertz;

[0088] φ k1 、φ k2 : Phase observables at the k1 and k2 frequency points of the navigation signal, converted to the length unit of meter.

[0089] For the same satellite under continuous observation and without cycle slips, the combined ambiguity parameters will not change. The multipath error is calculated according to the following formula among multiple epochs without cycle slips.

[0090]

[0091] In the above formula:

[0092] : is the evaluation value of the multipath error of the satellite observed by the receiver at the k-frequency point;

[0093] : is the number of epochs of the sliding window, with a default value of 50;

[0094] MPk(t i ): is the calculated quantity of the satellite observed by the receiver at the k-frequency point at epoch t i containing multipath error and integer ambiguity information.

[0095] Based on the GNSS satellite positioning principle and algorithm logics such as cycle slips, wide and narrow ambiguities, etc., the present invention provides a method for determining the fault location of a continuously operating reference station for the Beidou navigation system by combining the observed value information, radio frequency information, and adaptive gain information received by a global navigation satellite system receiver with the empirical parameters accumulated in the operation and maintenance work. The method provided by the present invention comprehensively analyzes and processes the influencing laws of associated fault location and parameters such as cycle slips, wide and narrow ambiguities, and multipath values in the carrier phase measurement of the global navigation satellite system (GNSS) technology. By presetting standard reference values in the system to compare with the received real-time fault data information, a decision rule program is obtained, which can not only improve the efficiency of GNSS-related fault location in the CORS system, reduce the probability of troubleshooting errors, and has strong operability and applicability, but also can reduce the operation and maintenance costs and realize the systematization and process of fault location.

[0096] The present invention and its implementation manner have been schematically described above. The description is not restrictive. Without departing from the spirit or basic features of the present invention, the present invention can be implemented in other specific forms. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Any reference signs in the claims should not limit the claims involved. Therefore, if those of ordinary skill in the art are inspired by it and, without departing from the purpose of this creation, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of this patent. In addition, the term "including" does not exclude other elements or steps, and the term "a" before an element does not exclude including "a plurality of" such elements. The plurality of elements stated in the product claims can also be implemented by one element through software or hardware. Terms such as first and second are used to denote names and do not denote any particular order.

Claims

1. A fault location system for a continuously operating reference station of the Beidou navigation system, characterized in that, It includes a global navigation satellite system receiver, a fault trigger unit, a data recording unit, an adaptive gain information analysis unit, a main radio frequency information analysis unit, a secondary radio frequency information analysis unit, a zenith map analysis unit, and a multipath effect calculation unit; the global navigation satellite system receiver sends the received real-time information data to the fault trigger unit; After being triggered, the fault trigger unit sends the data to the data recording unit for recording to obtain the original data; the data recording unit sends the original data to the adaptive gain information analysis unit; The adaptive gain information analysis unit analyzes and judges whether the adaptive gain information is greater than the set value; if it is not greater than, it sends the information to the main radio frequency information analysis unit, and the main radio frequency information analysis unit judges the fault type according to the radio frequency information; The main radio frequency information analysis unit is respectively connected to the secondary radio frequency information analysis unit and the zenith map analysis unit. If the radio frequency information is abnormal, the main radio frequency information analysis unit sends the information to the secondary radio frequency information analysis unit. If the radio frequency information is normal, the main radio frequency information analysis unit sends the information to the zenith map analysis unit; The secondary radio frequency information analysis unit analyzes whether the abnormality belongs to "narrow-band abnormality and much higher than the background noise". If so, it sends the radio frequency information to the radio frequency information analysis unit A, and the radio frequency information analysis unit A analyzes whether the radio frequency information "has temperature correlation" and judges the fault type; if not, it sends the radio frequency information to the radio frequency information analysis unit B, and the radio frequency information analysis unit B analyzes whether there is a situation where the fluctuation exceeds the preset value within the preset time period and judges the fault type; The zenith map analysis unit analyzes whether the "azimuth range of satellites not being tracked" and the "zenith angle range" in the zenith map have obvious directivity, so as to judge whether to send a signal to the multipath effect calculation unit for multipath value analysis.

2. A fault location system for a continuously operating reference station of a Beidou navigation system according to claim 1, characterized in that, The described global navigation satellite system receiver is used to receive and output radio frequency information, gain information, and global navigation satellite system observation value information; the described fault trigger unit is used to trigger a preset fault; the described data recording unit is used to collect the problem time and data when the triggered fault occurs and store and analyze the receiver gain and radio frequency data information; The main radio frequency information analysis unit and the secondary radio frequency information analysis unit store and analyze radio frequency data information.

3. A method for a fault location system of a continuously operating reference station for a Beidou navigation system according to claim 1 or 2, characterized in that, It includes the following steps: Step 1: The fault trigger unit is triggered in real time by the received data information; Step 2: The fault location system records the original data of the time when the Beidou navigation system continuous operation reference station fails; Step 3: Judge the fault type according to the comparison of the adaptive gain information with the preset normal value: if it is greater than the set value, the fault is judged as "antenna or feeder fault"; if it is not greater than the set value, go to Step 4; Step 4: Analyze the received radio frequency information and convert the signal representing the radio frequency information from the time domain to the frequency domain through fast Fourier transform, and judge the fault type according to the radio frequency information: if the radio frequency information is abnormal, go to Step 5; if the radio frequency information is normal, go to Step 6; Step 5: Analyze whether the abnormality belongs to "narrow-band abnormality and much higher than the background noise", and judge whether to go to Step 7 or Step 8 according to the analysis result: if so, go to Step 7; if not, go to Step 8; Step 6: Analyze whether the "azimuth range of satellites not being tracked" and the "zenith angle range" in the zenith map have obvious directivity, and judge the fault type according to the analysis result: If so, the fault is judged as "elevation angle setting / occlusion problem"; if not, go to Step 9; Step 7: Record the RF information within a preset time period after the fault occurs, and analyze whether the RF information is "temperature-related" and judge the fault type: If so, the fault is judged as "antenna fault"; if not, the fault is judged as "antenna fault or interference"; Step 8: Record the spectrum information until the preset time period after the end of the fault, and analyze whether there is a situation where the fluctuation exceeds the preset value within the preset time period and judge the fault type: If there is a situation where the fluctuation exceeds the preset value, the fault is judged as "interference"; if there is no situation where the fluctuation exceeds the preset value, it is judged as "antenna fault"; Step 9: Conduct multipath value analysis: If the multipath value is greater than the preset value, record it as "abnormal" and judge it as "elevation angle setting / occlusion problem"; if the multipath value is not greater than the preset value, record it as "normal" and judge it as "receiver satellite configuration / receiver fault".

4. The method of a fault location system for a continuously operating reference station of a Beidou navigation system according to claim 3, wherein, In Step 1, the trigger is that under the condition of normal communication link: the number of satellites returned by the receiver is less than the preset value or there are more than the preset number of cycle slips of phase observations within the preset time period.

5. The method of a fault location system for a continuously operating reference station of a Beidou navigation system according to claim 3, characterized in that, In Step 2, the original data includes pseudorange, carrier phase, Doppler, carrier-to-noise ratio, gain information, and RF information.

6. The method of a fault location system for a continuously operating reference station of a Beidou navigation system according to claim 3, characterized in that, In Step 4, the RF information received by the global navigation satellite system receiver is smoothed using a preset time window.

7. The method of a fault location system for a continuously operating reference station of a Beidou navigation system according to claim 3, characterized in that, The abnormal RF information means that within the preset frequency band range, the power value of the RF signal received by the receiver changes more than the preset value in Step 8; the narrowband anomaly means that within the preset frequency band range, the frequency width and the background noise respectively meet the preset ranges.

8. A method for a fault location system of a continuously operating reference station for a Beidou navigation system according to claim 3, characterized in that, In Step 6, whether the "azimuth range of satellites not being tracked" and the "zenith angle range" have obvious directivity means that according to the ephemeris, the satellites that should be tracked but are actually not tracked are determined, and the azimuth angles of the actually untracked satellites are all concentrated within any azimuth and the required inspection angle range, or the zenith angle range is all below the required inspection angle.

9. A method for a fault location system of a continuously operating reference station for a Beidou navigation system according to claim 3, characterized in that, In Step 7, the criterion for judging temperature-related is that the change of the RF information with the local air temperature exceeds the preset value.

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